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Smart Stiction

  • Soft robotics could loosely be described as the engineering science of expanded dexterity through controllable flexibility. The exploitation of controllable compliance through the judicious choice of soft flexible members, as opposed to a finite number of rigid kinematic joints, can result in greater dexterity without compromising simplicity. One example is the replacement of segmented mechanical legs with simple compliant material eruciform prolegs. To achieve this in robotics, without introducing additional mechanical joints, mobile surfaces with switchable coefficients of friction is essential. This paper explains how, using silicone based smart materials, the rapid alternation between kinematic and static friction (stiction) may be achieved.

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Metadaten
Author:Gareth J. MonkmanORCiDGND, Dirk SindersbergerORCiD, Nina PremORCiD, Tamara Szecsey
DOI:https://doi.org/10.19080/RAEJ.2019.04.555641
Parent Title (English):Robotics & Automation Engineering Journal
Publisher:Juniper Publishers
Document Type:Article
Language:English
Year of first Publication:2019
Release Date:2022/02/18
Volume:4
Issue:4
Article Number:555641
Note:
Corresponding author: Gareth J. Monkman
Institutes:Fakultät Elektro- und Informationstechnik
Fakultät Elektro- und Informationstechnik / Mechatronics Research Unit (MRU)
Begutachtungsstatus:peer-reviewed
OpenAccess Publikationsweg:Gold Open Access- Erstveröffentlichung in einem/als Open-Access-Medium
Corresponding author der OTH Regensburg
research focus:Sensorik
Licence (German):Creative Commons - CC BY - Namensnennung 4.0 International